
#pragma once
#include <stdbool.h>
#include <stdint.h>
#include <canard.h>


#include <uavcan.Timestamp.h>

#include <uavcan.equipment.gnss.ECEFPositionVelocity.h>



#define UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE 222
#define UAVCAN_EQUIPMENT_GNSS_FIX2_SIGNATURE (0xCA41E7000F37435FULL)

#define UAVCAN_EQUIPMENT_GNSS_FIX2_ID 1063



#define UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_NONE 0

#define UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_TAI 1

#define UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_UTC 2

#define UAVCAN_EQUIPMENT_GNSS_FIX2_GNSS_TIME_STANDARD_GPS 3

#define UAVCAN_EQUIPMENT_GNSS_FIX2_NUM_LEAP_SECONDS_UNKNOWN 0

#define UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_NO_FIX 0

#define UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_TIME_ONLY 1

#define UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_2D_FIX 2

#define UAVCAN_EQUIPMENT_GNSS_FIX2_STATUS_3D_FIX 3

#define UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_SINGLE 0

#define UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_DGPS 1

#define UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_RTK 2

#define UAVCAN_EQUIPMENT_GNSS_FIX2_MODE_PPP 3

#define UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_OTHER 0

#define UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_DGPS_SBAS 1

#define UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_RTK_FLOAT 0

#define UAVCAN_EQUIPMENT_GNSS_FIX2_SUB_MODE_RTK_FIXED 1





#if defined(__cplusplus) && defined(DRONECAN_CXX_WRAPPERS)
class uavcan_equipment_gnss_Fix2_cxx_iface;
#endif


struct uavcan_equipment_gnss_Fix2 {

#if defined(__cplusplus) && defined(DRONECAN_CXX_WRAPPERS)
    using cxx_iface = uavcan_equipment_gnss_Fix2_cxx_iface;
#endif




    struct uavcan_Timestamp timestamp;



    struct uavcan_Timestamp gnss_timestamp;



    uint8_t gnss_time_standard;





    uint8_t num_leap_seconds;



    int64_t longitude_deg_1e8;



    int64_t latitude_deg_1e8;



    int32_t height_ellipsoid_mm;



    int32_t height_msl_mm;



    float ned_velocity[3];



    uint8_t sats_used;



    uint8_t status;



    uint8_t mode;



    uint8_t sub_mode;



    struct { uint8_t len; float data[36]; }covariance;



    float pdop;



    struct { uint8_t len; struct uavcan_equipment_gnss_ECEFPositionVelocity data[1]; }ecef_position_velocity;



};

#ifdef __cplusplus
extern "C"
{
#endif

uint32_t uavcan_equipment_gnss_Fix2_encode(struct uavcan_equipment_gnss_Fix2* msg, uint8_t* buffer
#if CANARD_ENABLE_TAO_OPTION
    , bool tao
#endif
);
bool uavcan_equipment_gnss_Fix2_decode(const CanardRxTransfer* transfer, struct uavcan_equipment_gnss_Fix2* msg);

#if defined(CANARD_DSDLC_INTERNAL)

static inline void _uavcan_equipment_gnss_Fix2_encode(uint8_t* buffer, uint32_t* bit_ofs, struct uavcan_equipment_gnss_Fix2* msg, bool tao);
static inline bool _uavcan_equipment_gnss_Fix2_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct uavcan_equipment_gnss_Fix2* msg, bool tao);
void _uavcan_equipment_gnss_Fix2_encode(uint8_t* buffer, uint32_t* bit_ofs, struct uavcan_equipment_gnss_Fix2* msg, bool tao) {

    (void)buffer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;





    _uavcan_Timestamp_encode(buffer, bit_ofs, &msg->timestamp, false);





    _uavcan_Timestamp_encode(buffer, bit_ofs, &msg->gnss_timestamp, false);






    canardEncodeScalar(buffer, *bit_ofs, 3, &msg->gnss_time_standard);

    *bit_ofs += 3;





    *bit_ofs += 13;






    canardEncodeScalar(buffer, *bit_ofs, 8, &msg->num_leap_seconds);

    *bit_ofs += 8;






    canardEncodeScalar(buffer, *bit_ofs, 37, &msg->longitude_deg_1e8);

    *bit_ofs += 37;






    canardEncodeScalar(buffer, *bit_ofs, 37, &msg->latitude_deg_1e8);

    *bit_ofs += 37;






    canardEncodeScalar(buffer, *bit_ofs, 27, &msg->height_ellipsoid_mm);

    *bit_ofs += 27;






    canardEncodeScalar(buffer, *bit_ofs, 27, &msg->height_msl_mm);

    *bit_ofs += 27;






    for (size_t i=0; i < 3; i++) {




        canardEncodeScalar(buffer, *bit_ofs, 32, &msg->ned_velocity[i]);

        *bit_ofs += 32;


    }






    canardEncodeScalar(buffer, *bit_ofs, 6, &msg->sats_used);

    *bit_ofs += 6;






    canardEncodeScalar(buffer, *bit_ofs, 2, &msg->status);

    *bit_ofs += 2;






    canardEncodeScalar(buffer, *bit_ofs, 4, &msg->mode);

    *bit_ofs += 4;






    canardEncodeScalar(buffer, *bit_ofs, 6, &msg->sub_mode);

    *bit_ofs += 6;






#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits"
    const uint8_t covariance_len = msg->covariance.len > 36 ? 36 : msg->covariance.len;
#pragma GCC diagnostic pop

    canardEncodeScalar(buffer, *bit_ofs, 6, &covariance_len);
    *bit_ofs += 6;

    for (size_t i=0; i < covariance_len; i++) {




        {
            uint16_t float16_val = canardConvertNativeFloatToFloat16(msg->covariance.data[i]);
            canardEncodeScalar(buffer, *bit_ofs, 16, &float16_val);
        }

        *bit_ofs += 16;


    }






    {
        uint16_t float16_val = canardConvertNativeFloatToFloat16(msg->pdop);
        canardEncodeScalar(buffer, *bit_ofs, 16, &float16_val);
    }

    *bit_ofs += 16;






#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits"
    const uint8_t ecef_position_velocity_len = msg->ecef_position_velocity.len > 1 ? 1 : msg->ecef_position_velocity.len;
#pragma GCC diagnostic pop

    if (!tao) {


        canardEncodeScalar(buffer, *bit_ofs, 1, &ecef_position_velocity_len);
        *bit_ofs += 1;


    }

    for (size_t i=0; i < ecef_position_velocity_len; i++) {



        _uavcan_equipment_gnss_ECEFPositionVelocity_encode(buffer, bit_ofs, &msg->ecef_position_velocity.data[i], false);


    }





}

/*
 decode uavcan_equipment_gnss_Fix2, return true on failure, false on success
*/
bool _uavcan_equipment_gnss_Fix2_decode(const CanardRxTransfer* transfer, uint32_t* bit_ofs, struct uavcan_equipment_gnss_Fix2* msg, bool tao) {

    (void)transfer;
    (void)bit_ofs;
    (void)msg;
    (void)tao;




    if (_uavcan_Timestamp_decode(transfer, bit_ofs, &msg->timestamp, false)) {return true;}






    if (_uavcan_Timestamp_decode(transfer, bit_ofs, &msg->gnss_timestamp, false)) {return true;}







    canardDecodeScalar(transfer, *bit_ofs, 3, false, &msg->gnss_time_standard);

    *bit_ofs += 3;






    *bit_ofs += 13;







    canardDecodeScalar(transfer, *bit_ofs, 8, false, &msg->num_leap_seconds);

    *bit_ofs += 8;







    canardDecodeScalar(transfer, *bit_ofs, 37, true, &msg->longitude_deg_1e8);

    *bit_ofs += 37;







    canardDecodeScalar(transfer, *bit_ofs, 37, true, &msg->latitude_deg_1e8);

    *bit_ofs += 37;







    canardDecodeScalar(transfer, *bit_ofs, 27, true, &msg->height_ellipsoid_mm);

    *bit_ofs += 27;







    canardDecodeScalar(transfer, *bit_ofs, 27, true, &msg->height_msl_mm);

    *bit_ofs += 27;







    for (size_t i=0; i < 3; i++) {




        canardDecodeScalar(transfer, *bit_ofs, 32, true, &msg->ned_velocity[i]);

        *bit_ofs += 32;


    }








    canardDecodeScalar(transfer, *bit_ofs, 6, false, &msg->sats_used);

    *bit_ofs += 6;







    canardDecodeScalar(transfer, *bit_ofs, 2, false, &msg->status);

    *bit_ofs += 2;







    canardDecodeScalar(transfer, *bit_ofs, 4, false, &msg->mode);

    *bit_ofs += 4;







    canardDecodeScalar(transfer, *bit_ofs, 6, false, &msg->sub_mode);

    *bit_ofs += 6;








    canardDecodeScalar(transfer, *bit_ofs, 6, false, &msg->covariance.len);
    *bit_ofs += 6;


#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits"
    if (msg->covariance.len > 36) {
        return true; /* invalid value */
    }
#pragma GCC diagnostic pop
    for (size_t i=0; i < msg->covariance.len; i++) {




        {
            uint16_t float16_val;
            canardDecodeScalar(transfer, *bit_ofs, 16, true, &float16_val);
            msg->covariance.data[i] = canardConvertFloat16ToNativeFloat(float16_val);
        }

        *bit_ofs += 16;


    }








    {
        uint16_t float16_val;
        canardDecodeScalar(transfer, *bit_ofs, 16, true, &float16_val);
        msg->pdop = canardConvertFloat16ToNativeFloat(float16_val);
    }

    *bit_ofs += 16;








    if (!tao) {


        canardDecodeScalar(transfer, *bit_ofs, 1, false, &msg->ecef_position_velocity.len);
        *bit_ofs += 1;



    }





    if (tao) {

        msg->ecef_position_velocity.len = 0;
        size_t max_len = 1;
        uint32_t max_bits = (transfer->payload_len*8)-7; // TAO elements must be >= 8 bits
        while (max_bits > *bit_ofs) {

            if (!max_len-- || _uavcan_equipment_gnss_ECEFPositionVelocity_decode(transfer, bit_ofs, &msg->ecef_position_velocity.data[msg->ecef_position_velocity.len], false)) {return true;}
            msg->ecef_position_velocity.len++;

        }

    } else {



#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wtype-limits"
        if (msg->ecef_position_velocity.len > 1) {
            return true; /* invalid value */
        }
#pragma GCC diagnostic pop
        for (size_t i=0; i < msg->ecef_position_velocity.len; i++) {



            if (_uavcan_equipment_gnss_ECEFPositionVelocity_decode(transfer, bit_ofs, &msg->ecef_position_velocity.data[i], false)) {return true;}


        }


    }






    return false; /* success */

}
#endif
#ifdef CANARD_DSDLC_TEST_BUILD
struct uavcan_equipment_gnss_Fix2 sample_uavcan_equipment_gnss_Fix2_msg(void);
#endif
#ifdef __cplusplus
} // extern "C"

#ifdef DRONECAN_CXX_WRAPPERS
#include <canard/cxx_wrappers.h>


BROADCAST_MESSAGE_CXX_IFACE(uavcan_equipment_gnss_Fix2, UAVCAN_EQUIPMENT_GNSS_FIX2_ID, UAVCAN_EQUIPMENT_GNSS_FIX2_SIGNATURE, UAVCAN_EQUIPMENT_GNSS_FIX2_MAX_SIZE);


#endif
#endif
